WO2007030036A1 - Procede et systeme pour avertir le conducteur d'un vehicule de l'abandon d'un zone de circulation dans une voie - Google Patents

Procede et systeme pour avertir le conducteur d'un vehicule de l'abandon d'un zone de circulation dans une voie Download PDF

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Publication number
WO2007030036A1
WO2007030036A1 PCT/SE2005/001290 SE2005001290W WO2007030036A1 WO 2007030036 A1 WO2007030036 A1 WO 2007030036A1 SE 2005001290 W SE2005001290 W SE 2005001290W WO 2007030036 A1 WO2007030036 A1 WO 2007030036A1
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WIPO (PCT)
Prior art keywords
wheel
vehicle
lane
measurements
signal
Prior art date
Application number
PCT/SE2005/001290
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English (en)
Inventor
Ingemar Dagh
Jörgen ANDERSSON
Original Assignee
Volvo Lastvagnar Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Lastvagnar Ab filed Critical Volvo Lastvagnar Ab
Priority to PCT/SE2005/001290 priority Critical patent/WO2007030036A1/fr
Publication of WO2007030036A1 publication Critical patent/WO2007030036A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping

Definitions

  • the present invention relates to a method and a system for alerting a driver of a vehicle departing from a driving area in a traffic lane.
  • the term "vehicle” is defined as a vehicle provided with at least one wheel and is capable of driving on a road, and which is being steered by a driver, which may be human or an automatic system, where said vehicle may preferably be a car or a truck, and may be in two or more parts, such as a tractor provided with one or more trailers.
  • a driver which may be human or an automatic system
  • said vehicle may preferably be a car or a truck, and may be in two or more parts, such as a tractor provided with one or more trailers.
  • Other vehicles are conceivable, such as two wheeled vehicles, e.g. motorcycles.
  • Such lane markings excite the chassis structure of a vehicle to create a loud rumbling noise and vibration, when the tyres of a vehicle are running over these in order to warn a driver that the vehicle has crossed over the rumble strips.
  • the resulting rumbling noise and vibration may not be sensed at all by a driver.
  • a lane deviation warning system as disclosed in GB 2 232 518 comprises electrically conductive lane markings and detectors provided in the vehicle.
  • this system requires the installation of conductive markings in the road, which makes this system expensive and time consuming to install.
  • This object is achieved by a method and a system for performing such method for alerting a driver of a vehicle of a departure from a driving area in a lane, comprising the steps of performing wheel vibrations measurements of at least one wheel on the vehicle, while the vehicle is being driven; using said wheel vibration measurements for detecting a periodic signal of a predetermined nature corresponding to a periodic lane marking; and in that case providing an attention signal in order to alert said driver of the lane deviation.
  • the method provides a low-cost solution of lane deviation detection which can be mounted on any vehicle.
  • the solution proposed by the present invention is based on the realisation and the taking advantage of the fact that when a vehicle is travelling on a road having lane markings, which are protruding with a certain height from the lane and placed with constant increments a, i.e. periodically, the crossing of these creates vibrations in the wheels of the vehicle, which vibrations may be measured directly to detect such a lane deviation.
  • the method uses already available indicators like the lane markings themselves and the wheel response to said lane markings for an effective lane deviation detection. Accordingly, an accurate detection is possible independently of the weather and road condition.
  • the periodic signal detection step of said method comprises the steps of providing wheel speed measurements (v, ⁇ ); performing signal processing upon said wheel vibration measurements and said wheel speed measurements (v, ⁇ ) for a detection of such periodic signal of a predetermined nature.
  • Present signal processing devices such as processors, have reached a processing rate capable of providing a fast and reliable response to reduced data input, such as is the case when alerting drivers of veering vehicles, where a reduced alerting time period is available for detection of a relatively low number of lane markings through the use of wheel vibrations. It is accordingly possible to employ the present method quickly and reliably by signal processing of the induced wheel vibrations. A reliable method is thus provided which results in a fast alert to a vehicle driver.
  • the signal processing step comprises frequency domain analysis comprising peak detection, preferably within an adaptive interval around a frequency peak.
  • Digital processing circuits are available commercially, which provide for such fast signal processing as frequency analysis is requiring, and is suitable for reducing road vibration noise and for providing a reliable detection of whether a lane marking of constant increment a, i.e. periodic, is present or not.
  • the signal processing step comprises FFT-analysis comprising peak detection.
  • FFT-analysis comprising peak detection.
  • the frequency peak being detected is a function of the lane marking increment a.
  • This increment a expressed in a distance unit such as cm or mm, may thus either be known or unknown to the system, which is an advantage, considering how many different types of rumble strips are provided in the world having different increments a.
  • a given predetermined set of increments a is stored in a storage means, e.g. provided alongside the processor means.
  • the set of increments a may be depending upon geographical area in the world, to which the vehicle is sold, in which case the frequency interval within which the peak detection is performed may advantageously be decreased.
  • the frequency analysis is providing the increment data a adaptively, based on the wheel velocity measurements and the resulting detected peaks, which peaks are determined as corresponding to lane markings increments a.
  • a frequency detection interval may be predetermined in order to reduce the peak detection time needed.
  • noise in the wheel vibration measurements is reduced using a comparison between first and second wheel vibration measurements from a first wheel provided in one side of the vehicle and a second wheel provided opposed said first wheel on the other side of the vehicle, respectively.
  • the lane surface and wheel condition may cause more or less wheel vibration noise, which in this way may be reduced significantly, providing a more reliable peak detection.
  • said wheel vibrations measurements are performed on an end section of a vehicle axle supporting said at least one wheel.
  • the input excitations from the opposite wheel are reduced to a minimum, providing a reduced noise level influence from the rest of the vehicle, especially from the wheel opposite of the wheel being measured upon.
  • the wheel vibration measurement is performed for at least a vertical y-direction. Accordingly, since the vibrations induced into a wheel by driving over a plurality of lane markings having constant increment primarily is provided in the vertical direction or y- direction, the main part of such vibrations is available for detection by the present method.
  • at least the wheel vibration measuring step is performed continually. During driving of the vehicle periodic wheel vibration signals are being detected continuously, which ensures that no lane deviation is performed without the system being at least aware of this fact.
  • the periodic wheel vibration signal is used to detect the lane marking increment and/or the relationship between the length of the lane markings and the distance between the lane markings. This is useful when the lane markings contain certain information, such as the actual speed limit.
  • At least the attention signal is deactivated when the vehicle speed is outside a predefined speed interval, and/or when the vehicle is located within a predefined geographical area. Accordingly, an intelligent method and system is provided, where it is possible to distinguish between situations, e.g. when a driver wilfully drives across a rumble strip, or when the vehicle is in a country, where such lane deviation warning signals are prohibited by law, or when the driver is crossing e.g. a parking area, where there are provided lane markings, which are not in fact rumble strips, but may resemble these.
  • a maximum vehicle speed limit is advantageously provided due to speed limitations in many countries, but also due to considerations of frequency analysis and corresponding warning reaction time limitations, when driving at these maximum speeds.
  • a minimum speed limit is useful when the speed of the vehicle is not causing significant risk, e.g. at the time when the vehicle is starting up, and may be chosen dependent upon the total weight of the vehicle.
  • said wheel speed measurement is provided by measuring the angular velocity of said at least one wheel with a wheel angular velocity measurement means, providing wheel radius data for said at least one wheel, and calculating the wheel speed being equal to the angular velocity multiplied by the wheel radius data.
  • a wheel angular velocity measurement means provides wheel radius data for said at least one wheel, and calculating the wheel speed being equal to the angular velocity multiplied by the wheel radius data.
  • the wheel radius data is provided from a wheel data chip provided in said at least one wheel. Often, such a wheel data chip is available in tyres, giving a precise determination of wheel radius for a more accurate signal processing.
  • the measurement of wheel angular velocity is provided from an ABS-system of the vehicle. Accordingly, data already present in several vehicles may be supplemented and used for this purpose as well, providing accurate data for a more precise signal processing.
  • the measurement of wheel angular velocity is provided from individual wheel speed angular velocity measurement means provided adjacent to said at least one wheel. These may be provided on the axle together with the wheel vibration measurement means or independently around the wheel, for an individual and thus more accurate determination of wheel angular velocity.
  • the attention signal is selected from the group consisting of an audible signal, a visible signal, a tactile signal such as a vibration of the drivers seat, or any combination hereof.
  • the attention signal may be provided from one or more sources, which may be sensed by a driver of the vehicle.
  • the vehicle comprises a truck. In this case, even when providing a large truck, which is isolated from external noises such as a rumbling strip in action, the present invention provides an effective attention signal, which alerts a driver of any lane deviations.
  • said wheel vibration measurement means comprise one or more one-, two, or three- dimensional accelerometers, which are provided on a non-rotating end section of the axle mounting said at least one wheel, adjacent to said wheel.
  • Accelerometers provide accurate wheel vibration measurement data, and may provide multi-dimensional data as well, providing further basis for an accurate detection of lane markings.
  • the wheel vibration measurement means, the wheel speed measurement means, the processing means, and/or optionally the means for providing lane marking increment data are provided in combination in a single unit.
  • a system is provided, which eases installation after vehicle manufacture, and eases production of said system.
  • a chip-sized system is provided, which only requires connection to a warning system inside a driving compartment of the vehicle.
  • the system is arranged to communicate with a data system in said vehicle for a mutual exchange of data.
  • data may advantageously comprise wheel radius data, vehicle speed indication, ABS system data provided to the system and for the vehicle data system it may comprise an alert signal, which is processed and communicated to a warning system inside said vehicle, such as e.g. a display showing alert conditions in said vehicle.
  • said at least one wheel is a front wheel of the vehicle.
  • the first wheel to be driven over a lane marking is the front wheel.
  • a fast alert signal may be provided from the system, warning the driver before the vehicle ends up outside the road.
  • system is used for alerting the driver of excessive transversal trailer oscillations, when said trailer is crossing over periodic lane markings, in which system are provided at least two wheel vibration measurement means along one side of the vehicle adjacent to the side lane markings along which the vehicle is driving for at least one first wheel of the towing vehicle and at least one second wheel of the trailer, respectively, and further comprises means for comparing the signals from said at least two wheel vibration measurement means for an indication of transversal trailer oscillations for the detection of the crossing of said at least one second wheel of the trailer of side markings, said comparing means preferably being part of the processing means.
  • FIG. 1 is a schematic view of a truck provided with a system according the invention
  • Fig. 2 is a schematic perspective view viewed at the front of an approaching truck, indicating the lane and lane markings in either side;
  • Fig. 3 is a schematic side view, greatly exaggerated in size, of an example of a lane marking line on a road;
  • Figure 1 shows a schematic side view of a relatively large truck 2 having a cab 22 and a covered loading area, where the truck 2 is provided with vibration isolating suspension system and broad tyres.
  • the truck 2 is provided with vibration isolating suspension system and broad tyres.
  • said truck 2 is provided with a system 1 according to a first embodiment of the present invention for performing the method according to the invention.
  • the system 1 according to the invention is also suitable for installation in smaller vehicles, such as cars or automobiles, e.g. when the driving compartment is also isolated or the suspension system is very effective, or indeed, when the driver is physically impaired.
  • the system 1 generally comprises means 10 for measuring vibrations of at least one wheel, means 12, 12a, 14 for detecting a periodic signal of a predetermined nature, when the truck 2 is crossing lane markings 32, as shown in figure 2, having constant increment a, as shown in fig. 3, and driver attention means 16.
  • Said means 12, 12a, 14 comprise wheel speed measurement means 12, 12a and processing means 14, respectively.
  • the wheel vibration measurement means 10 and the wheel speed measurement means 12, 12a are arranged near an axle end section, adjacent to the front left wheel 24, upon the inner side of the wheel 24.
  • the wheel vibration measurement means 10 comprise an accelerometer for providing wheel vibration signals in the vertical or y- direction, as shown in figure 5. Accelerometers come in many varieties, including piezoelectric, potentiometric, reductive, strain gauge, piezoresistive, capacitive, and vibrating element accelerometers, which all share the characteristic of measuring a force in a given direction.
  • accelerometers may be delivered having one or more accelerometers in one unit measuring in the x-, y- and/or z- direction and have a size suitable for mounting inside small spaces, and may even be provided with communication means for delivering data with or without cords.
  • the wheel speed measurement means 12, 12a comprise an angular velocity sensor 12 for detecting the angular velocity ⁇ of said at least one wheel, and the system 1 is able to communicate with a wheel data chip 12a provided in the tyres upon the truck 2 by the time of tyre fabrication for the provision of wheel radius r of the tyre in question.
  • the radius r of the wheel 24 may be approximated, or even be input by an operator of the system 1, e.g. maintenance personnel or the driver, or may be indicated to the system 1 in any other suitable way.
  • the angular velocity may be provided from an ABS- system available on the truck.
  • a less reliable velocity of the vehicle as indicated by the available vehicle speed indicator may be provided to the system 1 for a rough determination of wheel speed.
  • these sensors 10, 12, 12a are in communication with the processing means 14, which comprises a processor and a memory 14a for a continual signal processing of the measurements arriving from the accelerometer 10 and the wheel speed sensors 12, 12a. Based on said signal processing, the processing means 14 are arranged to alert a driver of the truck 2 of any lane crossing by actuating a visual signal device or indicator lamp 16.
  • the system 1 further comprises a deactivation button 18 in communication with said processing means 14, which is useful e.g. in parking areas provided with periodic lane markings or in geographical areas, in which no such signal is allowed.
  • the attention signal is deactivated when the vehicle speed is outside a predefined speed interval, and/or when the vehicle is located within a predefined geographical area, e.g. Europe or the US, or even a parking area provided with rumble strips, where these are irrelevant to the driver of the vehicle.
  • a truck 2 with a tipper body where the truck 2 is heading towards the side of the road 30 and thus running over side lane markings 32 provided upon it.
  • the elongated side lane markings 32 are extending transversally of the driving direction on the lane, and are painted stripes having a periodic constant increment a, as seen in fig. 3, and a certain height, such that when a wheel of a vehicle is driving over it, vibrations are induced in the wheel, which are periodic and primarily vertically oriented along a y-axis or direction as shown in figure 5.
  • the road 30 is further provided with lane divider markings 34, which are seen to have a longer increment a and may have a lesser height than the side lane markings 32.
  • the signal processing of the resulting wheel vibration measurements which is performed in order to detect a peak, which indicates a periodic signal within a given frequency area, may be performed by using a whole range of different techniques, such as band pass filtering to reduce the signal to noise ration, and time domain analysis, such as Fast Fourier Transform or FFT analysis, and/or frequency domain analysis, and may be performed either given that lane marking increments a are predetermined or adaptively determined.
  • the signal processing is performed by frequency analysis, preferably directly upon the wheel speed and vibration measurements. In a preferred embodiment, as shown in fig. 4, frequency analysis is used to detect one or more peak frequencies, which indicates the presence of a periodic signal.
  • a periodic vibration signal is induced into the vehicle wheel 24 due to the fact that the truck is crossing side lane markings 32 having a constant increment a.
  • the periodic wheel vibration measurements registered by the accelerometer 10 at the wheel 24 may be represented as shown in figure 4, where the x-axis depicts the frequency and the y-axis depicts the acceleration registered by the accelerometers over a series of measurements, e.g. less than one revolution of the wheel, depending on wheel radius employed and increment a to be detected, while the wheel is turning along the road. Given that the wheel periphery is much larger than the increment distance a, approx. one whole revolution of a wheel is often sufficient for an accurate detection of a lane deviation.
  • a peak at the speed dependent frequency ft which is equal to the angular velocity ⁇ at the periphery of the wheel 24 divided by the constant increment a of the line markings in question.
  • the frequency analysis may preferably be performed by selecting an interval ft - ⁇ f, fi + ⁇ f around one or more such frequencies, where speed dependent frequency peaks are presumed to be located, each speed dependent frequency ft, f ⁇ , f 3 ... being equal to the wheel velocity divided by lane marking increments a l5 a 2 , a 3 ....
  • the surrounding frequency level of said interval ft - ⁇ f, ft + ⁇ f is also measured, and the peak level of the specific frequency is divided by the surrounding frequencies ft - ⁇ f, ft + ⁇ f to be able to detect, if the increase detected is a general noise increase or if the vibration signal is created by a lane marking, i.e.
  • x is a predetermined level
  • the result of the detection of a lane marking is positive.
  • the value x may be chosen arbitrarily, depending upon force imposed by the lane markings, which again depends on vehicle excitation characteristics, wheel performance, etc.
  • the result from the previous quote is stored in the storage means 14a and compared to the result of the next analysis.
  • overtone analysis is performed for higher order harmonics as well in order to reconstruct such sine wave signal. In general frequencies in the order of 20 kHz are observed.
  • the lane markings 32 functioning as rumble strips may be provided by elongated strips of paint or plastic, or alternatively as grooves of a width parallel to travelled way of between 1 and 10 cm, placed with a constant distance between them, resulting in an increment a typically in the order of 2 to 15 cm.
  • regulations provide for a paved shoulder between such side lane marking and the longitudinal side end of the road, within which the driver is able take corrective action to avoid that the vehicle is ending up in the ditch.
  • a set of data of different increments a is preferably stored in the storage means 14a, which preferably is provided in combination with the processing means, e.g. in the form of a microcontroller or embedded system.
  • increments a may be stored continuously, based on the system "learning" from previous experience.
  • the results of the digital signal processing may be stored continuously for further processing or registration purposes, and may be interchanged with an on-board vehicle data system.
  • the system and method is adapted to also identify rumble strips provided across the lane, e.g. as indications to slow down speed in residential areas, and provide a driver attention signal for this situation as well, e.g. by providing different types of signals to distinguish between the two types of rumble strips.
  • the system can detect not only the interval of the lane marking, but also the relationship between the length of the lane markings and the distance between the lane markings. In this way, different information embedded in the lane markings or rumble strips can be identified by the system. This information can be e.g. the actual speed limit or a speed limit change coming up.
  • the system can also be useful outside of e.g. schools which often has a reduced speed limit.
  • Noise in the wheel vibration measurements may advantageously be significantly reduced when using a comparison between first and second wheel vibration measurements from a first wheel provided in one side of the vehicle and a second wheel provided opposed said first wheel on the other side of the vehicle, respectively. This is due to the fact that in case of lane deviations over side lane markings as opposed to transversal rumble strips, the one opposed wheel is not experiencing vertical vibrations from these rumble strips, and accordingly the vibration measurement from this opposed wheel may advantageously be used to eliminate noise originating from the road surface, imbalances from the wheel and vibrations from the vehicle in general.
  • the method and system can be used when performing wheel vibration measurements on wheels on towing vehicles as well as trailers to indicate e.g. oscillating transversal movements of the trailer, which is not otherwise noticed by the driver.
  • it is used for alerting the driver of excessive transversal trailer oscillations, when said trailer is crossing over periodic lane markings.
  • at least two wheel vibration measurement means along one side of the vehicle adjacent to the side lane markings along which the vehicle is driving for at least one first wheel of the towing vehicle and at least one second wheel of the trailer, respectively.
  • said system comprises means for comparing the signals from said at least two wheel vibration measurement means for an indication of transversal trailer oscillations for the detection of the crossing of said at least one second wheel of the trailer of side markings, said comparing means preferably being part of the processing means. Accordingly, even vehicle oscillations on the rear side may be detected by the system according to the invention, which in an early stage of the oscillation may provide the driver with sufficient time to make corrective action to suppress these trailer oscillations.
  • this only requires installation of wheel vibration measurement means in two wheels, i.e. the front wheel of the truck and the back wheel of the trailer, respectively, in that side of the vehicle, which drives along the side of the road, which in continental Europe and the US is the right side of the vehicle's driving direction.
  • the method and system also can be used to detect the divider lines between lanes in supplement to side lane markings, in which case a special lane divider crossing attention signal may chosen, e.g. one that is less noticeable than for when detecting side and transversal rumble strips.
  • a special lane divider crossing attention signal may chosen, e.g. one that is less noticeable than for when detecting side and transversal rumble strips.
  • the integration time is much larger for such divider line than for road side markings due to the lower frequency of the longer increments a, it may be difficult in tune to alert the driver by analyzing the periodic wheel vibration signals provided by the divider lines.
  • these divider line detection measurements may be used for other purposes, e.g. registration purposes.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un système et un procédé destinés à avertir le conducteur d'un véhicule de l'abandon d'une zone de circulation dans une voie. Le procédé consiste à fournir la mesure de la vibration de la roue d'au moins une roue du véhicule pendant la conduite du véhicule. On utilise ensuite cette mesure de la vibration de la roue pour détecter un signal périodique d'une nature prédéterminée correspondant à un marquage périodique des voies, et, dans ce cas, pour émettre un signal d'attention afin de prévenir le conducteur d'une déviation de la voie. Dans un mode de réalisation préféré, le stade de détection du signal périodique consiste à fournir une mesure de la vitesse de la roue (v, ?), à effectuer un traitement du signal au moment de la mesure de la vibration de la roue et à fournir une mesure de la vitesse de la roue (v, ?) à des fins de détection de ce signal périodique de nature prédéterminée. A la différence des procédés des techniques antérieures, ce procédé utilise les informations déjà disponibles directement et non pas indirectement comme c'est, par exemple, dans le cas d'utilisation des capteurs optiques. Le procédé propose une solution à faible coût pour la détection de la déviation de la voie, qui peut être intégrée à n'importe quel véhicule. La solution proposée dans la présente invention est fondée sur la prise en compte et l'utilisation du fait que lorsqu'un véhicule se déplace sur une route possédant un marquage des voies ou un marquage latéral qui fait saillie de la voie et est placé à des intervalles périodiques, le fait de traverser ce marquage provoque des vibrations dans les roues du véhicule, lesdites vibrations pouvant être mesurées directement pour détecter cette déviation de la voie. De cette manière, ce procédé utilise les indicateurs déjà disponibles comme le tracé des voies proprement dit et la réaction de la roue audit tracé des voies pour cette détection de la déviation de la voie. Par conséquent, il est possible de mettre en oeuvre une détection de précision indépendamment de conditions météo et de l'état de la chaussée.
PCT/SE2005/001290 2005-09-06 2005-09-06 Procede et systeme pour avertir le conducteur d'un vehicule de l'abandon d'un zone de circulation dans une voie WO2007030036A1 (fr)

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WO2020139524A1 (fr) * 2018-12-27 2020-07-02 Continental Automotive Systems, Inc. Procédé de localisation de véhicule utilisant une détection passive de chaussée pendant une manoeuvre de risque minimale
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